Journal ArticleDOI
Localizability Judgment in UWSNs Based on Skeleton and Rigidity Theory
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TLDR
A novel localizability judgment method for UWSNs is proposed based on rigidity theory that can achieve low false negative rate and high efficiency networks of different sensor numbers and sensor densities and is shown to perform well in dynamic networks with relatively low water flow speed.Abstract:
Underwater sensor networks (UWSNs) have been investigated in a variety of applications such as sea resources reconnaissance, pollution monitoring and tactical monitoring. In 3D underwater environments, it is a key topic to judge the localizability of sensor nodes given known locations of a small set of anchor nodes. In this paper, a novel localizability judgment method for UWSNs is proposed based on rigidity theory. A UWSN is modelled as an undirected graph based on acoustic connectivity. The graph is then reduced to a subgraph with global rigidity, called skeleton, from which the set of localizable sensors can determined. Furthermore, the Analytic Hierarchy Process (AHP) is used to evaluate the localization confidence of localizable sensors. Extensive simulations demonstrate that the proposed localizability judgment method can achieve low false negative rate and high efficiency networks of different sensor numbers and sensor densities. It is also shown to perform well in dynamic networks with relatively low water flow speed.read more
Citations
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Journal ArticleDOI
Range-Based Localization for Sparse 3-D Sensor Networks
TL;DR: The results show that the proposed algorithm could localize more than 90% of nodes in sparse 3-D networks with average node degree of 11 and anchor ratio of 5%, while the best existing solution can localize only 52% of node in the same situation.
Journal ArticleDOI
An SDN Architecture for AUV-Based Underwater Wireless Networks to Enable Cooperative Underwater Search
TL;DR: This article employs the paradigm of SDN technology and proposes an SDN-based underwater cooperative searching framework for AUV-based UWNs and introduces the USBL positioning system and a hierarchical localization framework to localize/track each AUV in the network.
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Triangle Extension: Efficient Localizability Detection in Wireless Sensor Networks
TL;DR: This paper proposes an efficient and effective distributed approach to localizability detection for wireless sensor networks and shows that the results show that the algorithm significantly outperforms the existing algorithms in terms of both the latency and the accuracy of localizable detection.
Journal ArticleDOI
Distributed Localization Based on Signal Propagation Loss for Underwater Sensor Networks
TL;DR: A novel localization scheme for UWSNs based on the propagation loss, named Communication Signal Propagation Loss Localization Scheme (CSPLLS), which provides a relatively high precision of as low as 2.2% positioning error with centroid optimization.
Journal ArticleDOI
Nonlinear observability of unicycle multi-robot teams subject to nonuniform environmental disturbances
TL;DR: This work considers the problem of localizing a team of robots, without access to direct pose measurements, under the influence of nonuniform environmental disturbances and measurement bias and presents theorems that identify the structural conditions under which the system maintains local weak observability.
References
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